This is Devilish Racing which is a clone of the overtop birdeyes view racers. This game was created with Fenix and I believe ported to the Dreamcast by the IberDC team at www.dreamcast.es. This game is available in SD format however the ISO can be extracted and you can use Bootdreams to create a bootable Dreamcast CD-Rom Image.
Download available at:
ISO Make available at: http://www.dc-swat.ru/page/dreamshell/